Middleware for Control Kernel Implementation in Embedded Control Systems

Abstract

Control tasks require a number of activities, not all of them with the same relevance and priority. The critical subtasks constitute what is denoted as the control kernel. The design of ECS should be structured, with a kernel unit providing the most basic features. Most of these activities, such as data acquisition or control action delivering, are common to a number of control loops implemented in the same CPU. In this paper, the architecture of a middleware (MW) for essential control activities to ensure economic, safe and reliable operation is discussed. It is specially designed for control purposes, interacting with the peripherals (sensors, actuators and communication channels), with the OS, and exchanging information with the bunch of control algorithm implemented in the application area. As part of the facilities of the middleware, some issues for improving in a transparent manner these characteristics are considered. Finally, an example of controller implementation by using this middleware is presented.